- class skbot.ignition.FrustumProjection(hfov, image_shape)¶
Frustum based intrinsic camera transformation
This links behavior is identical to
skbot.transform.FrustumProjection; however, here the camera points along the x-axis instead of the z-axis. This is done to match the behavior of ignition, which applies the robotic coordinate frame standard instead of the computer vision standard here.
The angle of the viewing frustum in radians. It is assumed to be less than pi (180°).
The shape (height, width) of the image plane in pixels.
This function assumes that
hfovis less than pi (180°).
Points outside the viewing frustum will still be projected; however, their values lie outside the applicable pixel range.
- __init__(hfov, image_shape)¶
Returns a new link that is the inverse of this link.
Expresses the vector x (assumed to be given in the parent's frame) in the child's frame.